DEVICE OOPOS2

• The OOPOS2 device can control the location of an axis moved basically from digital controls of forward, backward and slow; the location of the axis is acquired via a bi-directional transducer.
• The movement commands can be sent directly to the motor in AC via contactors, or be sent to an inverter.
• The OOPOS2 device includes all functions necessary for the implementation of ON/OFF placements, in addition to special functions such as automatic recalculation of inertia, the mechanical backlash recovery management, managing the slowdown is proportional to the speed and a complete search of presets to synchronize the actual position of the axis with the internal value of the device.

In the configuration file (.CNF), the BUS section must be declared so that you have the hardware resources required for the implementation of the OOPOS2 device.
There must be at least a bi-directional meter. The device can also use an interrupt input and a line for preset search functions.
In the INTDEVICE section of the .CNF file must be add the following definition:

;---------------------------------
; Internal device declaration
;---------------------------------
INTDEVICE
<device name> OOPOS2 TCamp IQCTL ILine IAZero OutAva OutInd OutDir OutMov OutRal OutFre

	It is necessary that each definition are present on the same line. In case you do not want to assign a resource, for example OutFre, You must always enter in the appropriate field the string X.X.

where:

;--------------------------------
; Internale device declaration
;--------------------------------
INTDEVICE
Axis OOPOS2 0004 2.CNT01 1 2.IN01 2.OUT01 2.OUT02 X.X X.X 2.OUT3 X.X

The digital outputs for managing the placement are enable/disable depending on the position of the axis (counter), appropriately controlled by the device depending on the parameterization.
The ON/OFF positioning can executed in both directions (forward/backward) with the possibility of retrieving games, for deletion of any mechanical backlash.

The accuracy with which was built the mechanics is critical to the outcome of the placements. It is impossible to find, on the placements, the precision of the motion of bodies if the moving parts have loose backlash of the tenth. Also on placements of vertical axes very heavy (for example a press or vertical cutter), the inertia of movement upwards is less than the inertia of movement down.
In these and other situations implementation of recovery backlash in positioning significantly improves accuracy.

	The positioning is always concluded in the same direction. For example, whereas placements with recovery forward backlash (see Picture 1), for both forward and reverse positioning, the movement of the axle ends always moving from left to right (forward).

Picture 1: positioning diagram with recovery backlash.

In the Picture 2 Describes the various stages of a ON/OFF placement forward without the implementation of recovery backlash.
The excitement of moving outputs (in this casa the forward output) moving the axis; increasing the count acquired and the appropriate device parameters involve the activation of several resignations to motion management, up to the end of placement and the activation of tolerance output (positioning report concluded correctly).

Picture 2: forward positioning without the recovery backlash.

• The axis is stopped (st_still = 1).
• The count is reset to zero (posit = 0).
• All outputs are disable (with the exception of brake output).
• You have set both the share placement (setpos) that the slowdown quota (slowpos).

• The OOPOS3 device receives the command of START positioning.
• Brake output disabled (st_brake = 0).
• The advance brake output timer is set to the value defined in the tbrake parameter.

• Terminates the advance brake output timer.
• It's enabled the forward output (st_movfwd = 1).
• The axis begins the movement (vel) and the counter (posit) increases.
• After an acceleration ramp (defined from mechanical inertia or in any acceleration values set in the inverter), axis speed is constant.

• Positioning reaches the deceleration range (setpos - slowpos).
• The forward output is disable (st_movfwd = 0).
• The slowdown timer is set to the value defined by the parameter slowdly.
• When the timer of slowdown is half the value set, activates the slowdown output (st_movslow = 1): This is to avoid problems with special switches-mechanical devices.

• Ends the slowdown timer.
• Is enabled the forward output (st_movfwd = 1).
• The axis moving with slow speed.

• The placement reached the inertial range (setpos - iner[ninert]).
• The forward (st_movfwd = 0) and slowdown (st_movslow = 0) outputs are disabled.
• The delay timer tolerance is set to the toldly value and start counting.
• The axis keeps moving because of its inertia (variable according to its weight, speed, friction).

• The axis stops.
• It is important that the axle ends the movement before the end of the timer to delay tolerance.

• Terminates the delay tolerance timer.
• Brake output is enabled (st_brake = 1).
• If enabled, runs the recalculation of inertia.
• If the placement ends in tolerance, is enable the out of tolerance (st_toll =1).

In the Picture 3 describes the various stages of a ON/OFF forward placement with the implementation of recovery backlash in backward direction.
The activation of (forward / backward) outputs moving the axis; the increasing of the count acquired and the appropriate device parameters involve the activation of other outputs to the motion management, up to the end of placement and activation of the output of tolerance (positioning report concluded correctly).

Picture 3: forward positioning with backward recovery backlash.

For complete understanding of this description you should have read the previous paragraph (FORWARD POSITIONING WITHOUT RECOVERY BACKLASH).

• The axis moves at the speed of positioning.
• Count greater than zero.
• All disable outputs except the forward output.

• The count reaches the deceleration range for recovery overquota backlash (setpos + overpos - slowpos).
• The forward output is disabled (st_movfwd = 0).
• The slowdown is set to the value of the slowdly parameter.

• Terminates the timer advance unlock brake.
• It's enabled the forward output (st_movfwd = 1).

• Terminates the slowdown timer.
• It's enabled the forward output (st_movfwd = 1).
• The axis moves at low speed.

• Positioning reaches the inertial range (setpos + overpos + iner[ninert]).
• The forward (st_movfwd = 0) and slodown (st_movslow = 0) outputs is disabled.
• The reverse timer is set to the value of tinv.

• Terminates the reverse timer.
• The placement resumes in the backward direction.

• Normal positioning phases as described above.

The OOPOS3 device needs some necessary hardware resources, as a bidirectional counter input (CNTxx) and the digital outputs.

The following procedure is used to test the counter input.

• Initialize the device axis with INIT command.
  INIT Axis
• Checking if the st_init state activation.
  WAIT Axis:st_init
• Enter the value 100000 in the cntratio parameter.
  Axis:cntratio = 100000
• Reset the value of posit parameter.
  Axis:posit = 0
• Move forward one revolution axis turning the encoder: verify that the value of the Axis:posit variable it's positive and matches the number of pulses/Rev encoder.
• If the Axis:posit value is negative, swap the encoder phases.
  If the Axis:posit value remains to zero, check the electrical connections.

	Before moving the axis, check the proper operation of emergency equipment and protection.

The following procedure is used to verify the operation of the digital outputs of forward, backward and slowdown moving the axis with the manual commands of the device.
To continue, verify that the Axis device is initialized and with the correct Asse:cntratio value.

• Set the maximum value the software limits of the device in order to enable its movement. Insert the 999999 value in the maxpos parameter and the -999999 in the minpos parameter.
  Axis:maxpos = 999999
Axis:minpos = -999999
• Give the MANFFW command to active only the forward output..
  MANFFW Axis
• To verify the correct execution of the command, check that the st_still state is to 0 and st_movfwd is to 1:
  WAIT NOT Axis:st_still AND Axis:st_movfwd
• Check that the axis moves forward and that the count showed in Axis:posit it increments, then stop the movement with the STOP command.
  STOP Axis
• If the forward output, for example is correspondent to the 2.OUT01 resource, don't enable, check the electrical connection.
• Dare il comando MANFBW per eccitare la sola uscita d'Indietro.
  MANFBW Axis
• To verify the correct execution of the command, check that the st_still state is to 0 and st_movbwd is to 1:
  WAIT NOT Axis:st_still AND Axis:movbwd

In some applications you are prompted to place a large number of axes by moving a single axis at a time. The choice may be to install one drive which depending on the axis to be placed electrically connects the engine interested in positioning; the transducer is always bound to its axle.
The EPICPOS parameter allows you to control access to the DAC device using the REGON and REGOFF commands. In this way through the QCL application defines a set of device many axes to be placed; in the definition, all devices use the same resource DAC (IOutA).
Normally all devices must be in the st_regoff = 1 state so you will not have access to the DAC. Before you start positioning, with the REGON command, the device is brought to the st_regoff = 0 state. It's execute the placement and to the completion, the device is returned in the st_regoff = 1 state with REGOFF command. For no reason two devices simultaneously must be found in the st_regoff = 0 state.
When the device is placed in the regoff position, the analog output remains fixed at the last voltage value defined before the REGOFF command.

	Changing the quota is accepted only if the new position is reached with the use direction and if the axis is not already in slowdown phase for to reach the quota previously set.

In some applications you are prompted to define the target quota during placement, depending to external events to the device. With this feature you can write in the setpos parameter even with current placements.

When positioning you can also change the value of the count posit. This function is usually used when a device must, under special conditions, continue a speed profile for a very long time, exceeds the time axis takes to reach the quota limit (maxpos or minpos).

• Check that the axis moves back and that the count showed in Axis:posit decreases, then stop the movement with the STOP command.
  STOP Axis
• If the backward output Se l'uscita di Indietro, for example the resource 2.OUT02, don't enable, check the electrical connection.
• Give the MANSFW command to enable the forward and slowdown outputs.
  MANSFW Axis
• To verify the correct execution of the command, check that the st_still state is to 0, st_movfwd is to 1 and st_movslow is to 1:
  WAIT NOT Axis:st_still AND Axis:st_movfwd AND Axis:st_movslow
• Check that the axis from moving forward at a speed lower than the previous and that the count showed in Axis:posit is increments, then stop the movement with the STOP command.
  STOP Axis
• If the slowdown output, corresponding to the 2.OUT03 resource, does not turn on, check the electrical connection.

To Introduce the locating dimensions in desired unit (Um) You must multiply the pulses generated by the transducer for the multiplicative ratio (cntratio); this parameter must be between the values: 374 < cntratio < 400000.

Multiplicative coefficient calculation As an example, consider introducing dimensions in mm; the unit of measurement (Um) will be in mm.

If the space of 1000 mm is accomplished with 20000 pulses, the Axis:cntratio variable should be set to:
Axis:cntratio = Um x 100000 / pulse_numbers
that is:
Axis:cntratio = 1000 x 100000 / 20000 = 5000

Multiplicative value of 100000 adapt the result of dividing to the format in which is expressed the variable Axis:cntratio.
This is an integer number but expresses a value with a decimal point at the fifth significant digit. To write Axis:cntratio=100000 means setting a ratio Um/pulse_numbers equal to 1.00000.

• Enter the value 100000 in the cntratio parameter
  Axis:cntratio = 100000
• Reset the value of the posit parameter
  Axis:posit = 0
• Shift the axis of a specific space, for example 1000 mm., that call Sp.
• Capture the value of the Axis:posit parameter
• In Axis:cntratio introduce the integer value resulting from the formula:
  Axis:cntratio = Sp * 100000 / Axis:posit

For work properly the OOPOS2 device, you must enter a few basic parameters.

• Determining the software limits to be introduced in the maxpos and minpos parameters.
  Axis:minpos = xxx (xxx = minimum axis value expressed in Um).
  Axis:maxpos = yyy (yyy = maximum axis value expressed in Um).
• If you are using a two speed system, set the required space to the axis to switch from high speed to slow speed the at the enabled of the slowdown output; insert the data in the slowpos parameter.
  Axis slowpos = zzz (zzz = slowdown axis value expressed in Um).
• Set the time for disable the output of movement when the shaft enters the deceleration range so that the slowdown output does not cause electrical failure or excitement; so that the output slowdown does not cause electrical failure or excitement;slowdly.
  Axis:slowdly = ttt (ttt = slowdown time in s/100).
• Set the tolerance limits to be obtained when placing in the parameters tollp and tolln. As a first approach, introducing the higher values at precisions requests.
  Axis:tollp = tpx (tpx = positive tolerance value expressed in Um/10).
  Axis:tolln = tnx (tpn = negative tolerance value expressed in Um/10).
• Set the time axis inversion in the tinv parameter.
  Axis:tinv = inversion time expressed in s/100
• Consider a single inertia range for all axis; then, set the ninert parameter to “1”.
  Axis:ninert = 1
• Enable recalculation of inertia when the placement ends out of tolerance; then, set the inertmode parameter and “1”.
  Axis:inertmode = 1
• Set the time delay tolerance, considering the time it takes for the axis to decelerate to a stop; then, set thetoldly parameter.
  Axis:toldly = tdly (tdly = activation time delay tolerance expressed in s/1000).

In the ON/OFF placements the space of slowdown should be long enough to bring the axis at the slow speed (of end placement), which enter the inertial range and conclude your placement in tolerance. It is essential that the speed at the time of entry in the inertial range is always equal, so that inertia is repetitive and continuous recalculations are avoided that would cause an inaccuracy in positioning.

	Correct slowdown quota: before stopping the axis moves at low speed, facilitating the stop without compromising the execution time of positioning

	Slowdown quota is too long: This allows the axis to end positioning by moving the slow speed, but is maintained for too much space, extending considerably the time of positioning.

	Slowdown quota is too short: the axis approaches at the quota with a speed too high to allow the mechanical rapid stop; the succession of the system compromises the placement, stopping the axle out of the tolerance range set.

In some cases the OOPOS3 device must manage the axis where positioning speed is variable. For this reason the OOPOS2 device has a system of automatic calculation of the slowdown quotaq, so the speed of end placement and the inertia value are repetitive, regardless of the speed of the axis and the value of inertia are repetitive, regardless of the speed of the axis..
The OOPOS2 device has two methods (selected by the slowtype parameter), to calculate the slowdown:

• With slowtype = 1, the slowdown is calculated proportionately to the positioning speed.
• With slowtype = 2, the slowdown is calculated according to the square of the positioning speed.

To calculate the slowdown value you need setting to acquire the axis speed.
The unit of speed is in function of the following variables:

• unitvel
• decpt

Unitvel parameter Defines if the speed values are expressed in Um at the minute (unitvel = 0) or in Um at the second (unitvel = 1).

Decpt parameter Whether to set the values of speed in multiples of the fundamental units Um. For example, if the fundamental unit of measure Um=mm, and unitvel=1 you get the speed indicator in the vel variable:

• with decpt = 0 in mm/s
• with decpt = 1 in cm/s
• whit decpt = 2 in dm/s
• whit decpt = 3 in m/s

Theoretical method
you have to apply the formula:
Speed = Frequency * ….

Pratical method It's based on the speed reading detected by the device in the vel parameter giving the drive a known voltage. If driving permits, provide the maximum working voltage axis and then read the value in the vel parameter; if you provided a lower voltage, the maximum speed will be proportional to the voltage supplied.

Enter the value of the maximum speed detected in maxvel parameter.

The device calculates the slowdown based on the formula:
Slowdown = (Maximum slowdown x Speed)/Maximum speed

	The calculation of the slowdown, as evidenced by the chart, one of the two maxslow or minslow limits cannot exceed.

where:
Maximum slowdown = corresponds to the maxslow variable.
Minimum slowdown = corresponds to the minslow variable.
Calculated slowdown = corresponds to the exeslow variable.
Maximum speed = corresponds to the maxvel variable.
Instantaneous speed = corresponds to the vel variable.

The device auto-calculates the slowdown based on the formula:
Slowdown = (Maximum slowdown x Speed2)/Maximum speed

where:
Maximum slowdown = corresponds to the maxslow variable.
Minimum slowdown = corresponds to the minslow variable.
Calculated slowdown = corresponds to the exeslow variable.
Maximim speed = corresponds to the maxvel variable.
Instantaneous speed = corresponds to the vel variable.

The values of inertia can be introduced directly by the operator or automatically calculated from the device; the mode is chosen with setting the inertmode parameter.
The device manage the subdivision of the axis path (between the minpos and maxpos) in more same bands; the number of bands is defined by the ninert parameter. This way you can have inertia as a function of the band within which concludes the positioning.

By setting the dobiner = 0 parameter, the device manage a unique inertia value independently of direction of movement (forward or backward).
By setting the dobiner = 1 parameter, the device manage two inertia values for each band, one for the forward direction and another for the backward direction. This mode is applicable, for example, when you move the vertical axis.
For storing inertia, are used the iner01÷ iner08 parameters (in the event that dobiner = 0) or the iner01÷ iner16 parameters (if dobiner = 1):

By definition, the forward inertia is used only forward in movements (forward output enabled) while, the backward inertia, is used only for backward movements (backward output enabled).

The calculation of inertias about the various bands can be done automatically by the device; at the end of each placement, the device quantify the value of inertia for use in subsequent placements that will end in the same band.
You can define a set of customizations related to automatic recalculation of inertia.

With the setting of this parameter is used to define when the device execute the recalculating of inertia; there are two methods:

• The recalculation is executed only if the placement ends outside the tolerance range.
• The recalculation is executed at the end of each placement, although it ended in or out of the tolerance range.

• Automatic recalculation of inertia is executed by OOPOS2 device when ended the activation delay tolerance (toldly), at the end of which the axis is considered definitely in stop.

• If the value of the inertia recalculated diverges beyond a certain value from inertia in use, you can have an alert (st_erin = 1 state); this alert may in any case be disabled.

The preset searchb is a procedure to synchronize the value of the posit parameter with the actual position of the axis. Consists to load a value in the counter (previously stored) at the time of acquisition of transducer zero pulse; you can execute the preset search with a transducer without the zero pulse, but you need an input (cam or sensor) by 'enabling zero-pulse transducer'.

Formerly to the preset search the counter acquired can have any value and the axis can be located anywhere. For execute the upload of preset quota, the axis you must direct to the “enabling zero-pulse transducer” input.
The initial direction of motion is defined by prsdir parameter:
prsdir = 0 the axis will start getting forward.
prsdir = 1 the axis will start getting backward.

	During the preset search the software the maxpos and minpos limits are disabled.

The preset search start is given from the PRESET command.
If during the preset search is given again the PRESET command, the direction of motion of the axis is reversed, preserving the operation of the preset search direction.
It should be noted that the presets quota (prspos) must always be between the minimum and maximum quotas and after the load of the preset quota, the axis is automatically positioned to the preset quota.

	The zero pulse enable input has a hardware filter which delays the acquisition and so influence the precision of the loading. Axis speed should be low enough to allow the acquisition of the input.

The axis towards to the sensor connected to the enable input zero pulse with a normal placement speed. The st_prson state reports that the preset procedure is in progress. When, during the path, the axis bump into the enabling zero-pulse transducer input, reverses the direction and takes slow speed.
To the disabling of enabling zero-pulse transducer input is loaded the preset quota on the counter (posit parameter).
The axis stop, the st_prson state is disabled and the st_prsok state is aenabled to signal the end of search. This State remains active until the starting of a new presets procedure. When the system is power up this state is always to zero (Picture 1).

Picture1: preset load using the only enabling cam.

L’asse si dirige verso il sensore collegato all’ingresso di abilitazione impulso di zero con la normale velocitá di posizionamento. Lo stato st_prson segnala che la procedura di preset è in corso. Quando, nella sua corsa, l’asse incontra l’ingresso di abilitazione impulso di zero trasduttore, inverte la direzione ed assume la velocitá lenta.
Alla disattivazione dell’ingresso di abilitazione impulso di zero viene abilitata la lettura del primo impulso di zero fornito dal trasduttore e, al momento dell’acquisizione di questo segnale, viene caricata la quota di preset nel conteggio (parametro posit).
L’asse si ferma, lo stato st_prson si disattiva e lo stato st_prsok si attiva per segnalare la conclusione della ricerca. Questo stato rimane attivo fino all’avviamento di una nuova procedura di preset. All’accensione del sistema questo stato é sempre a zero. Vedi figura 2.

Figura 2: caricamento preset utilizzando camma di abilitazione ed impulso di zero trasduttore.

Con questa procedura la ricerca di preset non è abilitata. Il comando di caricamento della quota di preset viene fornito dall’attivazione dell’ingresso di abilitazione impulso di zero e viene attivato lo stato st_prsok.

• Se l’ingresso rimane attivo il caricamento é continuo.
• Se all’accensione l’ingresso é già attivo il primo caricamento viene eseguito solo dopo una sua disattivazione.

Il device visualizza sempre la posizione assoluta dell’asse; per eseguire posizionamenti incrementali é necessario disporre di uno strumento per sottrarre o sommare un determinato valore al conteggio (posit) senza introdurre errori. Il cambio di conteggio può essere eseguito anche con una scrittura diretta nel nuovo valore nel parametro posit.
Volendo sottrarre 100 unità di misura al conteggio è possibile:
Asse:posit = Asse:posit - 100

Questa operazione introduce un errore perché impone la posizione “posit = -100”, quando l’asse poteva avere una posizione intermedia tra una unità di misura e la successiva (es. 100.3). Questa frazione (0.3) viene persa ed il ripetersi di queste operazioni provocano l’accumularsi di un errore non trascurabile.
Il comando DELCNT somma al conteggio una quantità pari al parametro delta senza perdere la parte frazionaria della posizione:
Asse:delta = -100
DELCNT Asse
Il comando di DELCNT può essere inviato solamente con asse fermo (st_still=1)

La lettura della posizione dell’asse risulta essere di 2 unità e si trova nel punto A. Si vuole sommare al conteggio posit tre unità di misura.
Con le istruzioni:
Asse:posit = Asse:posit + 2
l’asse assume la nuova posizione B.
Con le istruzioni:
Asse:delta = 2
DELCNT Asse
viene raggiunta la posizione C.

Si noti che con le prime istruzioni l’asse ha compiuto un delta inferiore a 3 unità e quindi è stato introdotto un errore.
Se si devono inviare comandi DELCNT in successione, é conveniente calcolare la grandezza da sommare ed inviare una sola volta il comando; in caso contrario prestare attenzione a non inviare comandi successivi senza interporre una istruzione di lettura su parametro device.

Asse:delta = 3 DELCNT Asse WAIT Asse:st_init Asse:delta = 40 DELCNT Asse

Una scrittura del tipo:

Asse:posit = 1000
Asse:delta = - 100
DELCNT Asse
DELCNT Asse
...

non assicura che il valore di posit sia di 800, come ci si aspetterebbe da due sottrazioni consecutive, mentre è possibile che sia di 900 per la sovrapposizione dei due comandi. La scrittura diventa quindi:

Asse:posit = 1000
Asse:delta = - 100
DELCNT Asse
WAIT Asse:st_init
DELCNT Asse
WAIT Asse:st_init
...

Con l’utilizzo del device OOPOS2 le uscite di movimento sono ad uso esclusivo del device; pertanto non possono essere utilizzate da altri device o dall’applicativo.
Il comando di REGOFF permette di mettere a disposizione tali risorse, disabilitandone l’aggiornamento da parte del device OOPOS2. Questa condizione, verificata con lo stato st_regoff = 1, pone il device in uno stato di attesa in cui comunque continua ad aggiornare la posizione dell’asse (conteggio acquisito).
Il comando di REGON ripristina le normali condizioni riassegnando al device l’aggiornamento delle uscite.

Nelle applicazioni in cui non è necessario movimentare contemporaneamente più assi l’uso dei comandi REGON/REGOFF permette di utilizzare sempre le stesse uscite di movimento risparmiando risorse hardware.

Le procedure fin qui descritte hanno permesso di completare le fasi di definizione delle risorse hardware necessarie al device, di verifica dei collegamenti elettrici, di impostazione dei parametri fondamentali del device.
Ora é possibile eseguire una semplice movimentazione dell’asse.

• Spostare l’asse in una posizione tale per cui possa compiere un determinato spazio senza incontrare i finecorsa di quota massima.
• Azzerare il conteggio (parametro posit = 0).
• Impostare la quota di posizionamento (parametro setpos).
  Asse:setpos = quota di posizionamento (in Um compresa tra minpos e maxpos).
• Start posizionamento (comando di START).
  START Asse
• Per interrompere il posizionamento utilizzare il comando di STOP.

L’introduzione dei parametri relativi alle inerzie (iner01 ÷ iner16), alle tolleranze (tolp e toln) ed allo spessore utensile (tool), viene proposta con una cifra in più, in modo da poter introdurre il dato con una precisione 10 volte maggiore.
Per un buon funzionamento del sistema QPS, il parametro cntratio deve essere inferiore a 40000; se il coefficiente moltiplicativo è compreso tra 40001 e 399999 l’influenza dell’ultima cifra diminuirà gradatamente fino a cessare completamente quando tale coefficiente è pari a 400000. Il sistema QPS viene introdotto anche in fase di lettura dei dati sopradescritti.

• Se una quota di posizionamento pari a 10 millimetri viene normalmente inserita con il numero 10, per introdurre lo stesso valore di tolleranza (quindi con il QPS), sarà necessario introdurre il valore 100.
• Una fascia di tolleranza pari a 10 millimetri verrà visualizzata con il numero 100.

Il nome del parametro, stato o comando viene riportato alla sinistra della tabella.

R
Indica se il relativo parametro o stato è ritentivo (al momento dell’inizializzazione del device mantiene lo stato precedentemente definito), oppure lo stato che assume al momento dell’inizializzazione del device.
Se il device non necessita di inizializzazione il campo “R” indica il valore che il parametro o stato assume all’accensione della scheda.
R = Ritentivo
0 = Al momento dell’inizializzazione del device il valore viene forzato a zero.
1 = Al momento dell’inizializzazione del device il valore viene forzato a uno.
- = Al momento dell’inizializzazione del device viene presentato il valore significativo.

D
Indica la dimensione del parametro.
F = Flag
B = Byte
W = Word
L = Long
S = Single Float

Vengono descritte tutte le condizioni necessarie affinchè il parametro sia considerato corretto o perchè il comando venga accettato.
In alcuni casi vengono specificati dei valori limite per l’accettazione del parametro: se vengono introdotti dei valori esterni ai limiti impostati, il dato viene comunque accettato; pertanto devono essere previsti opportuni controlli dell’applicativo tali da garantire il corretto funzionamento.
Per l’esecuzione di un comando, tutte le relative condizioni devono necessariamente essere soddisfatte; in caso contrario il comando non viene inviato.

A
Indica la modalità di accesso.
R = Read (lettura).
W = Write (scrittura).
RW = Read / Write.

I comandi sono stati ordinati con priorità decrescente. Ad esempio, in caso di contemporaneità dei comandi STOP ed START, viene acquisito per primo il comando STOP.

Nessuna limitazione.

;*************************************************************************************
; Nome Modulo: Ex_Oopos.CNF              Progetto: Ex_OOPOS2
; Autore: QEM srl                        Data: 01/05/99
; Sistema: QMove1 / QCL3                 Libreria: 1LIB3B04
; Funzionalità: Esempio gestione OOPOS2  Release: 0
;-------------------------------------- Note -----------------------------------------
; [1] - Applicativo di esempio per utilizzo device OOPOS 2
;*************************************************************************************
 
;-------------------------------------------------------------------------------------
; Definizione Costanti
;-------------------------------------------------------------------------------------
CONST
 
;-------------------------------------------------------------------------------------
; Definizione Variabili SYSTEM
;-------------------------------------------------------------------------------------
SYSTEM
slQuotaPos     L                                ;Variabile per quota di posizionamento
 
;-------------------------------------------------------------------------------------
; Definizione Variabili GLOBAL
;-------------------------------------------------------------------------------------
GLOBAL
gfMovMan       F                                ;Flag segnalazione movimenti manuali in
                                                ;corso
gfMovAuto      F                                ;Flag segnalazione movimenti automatici
                                                ;in corso
 
;-------------------------------------------------------------------------------------
; Definizione Variabili TIMER
;-------------------------------------------------------------------------------------
TIMER
 
;-------------------------------------------------------------------------------------
; Definizione DATAGROUP
;-------------------------------------------------------------------------------------
;DATAGROUP
 
;-------------------------------------------------------------------------------------
; Configurazione Bus
;-------------------------------------------------------------------------------------
BUS
     1   1CPUB   02
     2   1MIXA   00
     3   .
     4   .
 
;-------------------------------------------------------------------------------------
; Definizione Variabili INPUT
;-------------------------------------------------------------------------------------
INPUT
ifAvMan   F   2.INP01                          ;Ingresso di avanti manuale
ifInMan   F   2.INP02                          ;Ingresso di indietro manuale
ifStart   F   2.INP03                          ;Ingresso di START asse
ifStop    F   2.INP04                          ;Ingresso di STOP asse
 
;-------------------------------------------------------------------------------------
; Definizione Variabili OUTPUT
;-------------------------------------------------------------------------------------
OUTPUT
ofToll    F   2.OUT04                          ;Uscita di tolleranza asse
 
;-------------------------------------------------------------------------------------
; Dichiarazione device interni
;-------------------------------------------------------------------------------------
INTDEVICE
;Nome   Tipo   TCamp  Contatore  Inter  AbilZero  OutAva  OutInd  OutDir  OutMov
Asse    OOPOS2 0004   2.CNT01    1      2.INP01   2.OUT01 2.OUT02         X.X    X.X
 
OutRal  OutFre
2.OUT03 X.X
 
END

;-------------------------------------------------------------------------------------
; Nome File: TASK_00.MOD
; Progetto: EX_OOPOS2
; Descrizione: Gestione Posizionamento
;-------------------------------------------------------------------------------------
 
;-------------------------------------------------------------------------------------
; Operazioni di Inizializzazione Asse
;-------------------------------------------------------------------------------------
Asse:cntratio = 100000                          ;Risoluz.encoder = Spazio in 1 giro
                                                ;encoder(Um) / impulsi giro encoder
Asse:maxpos = 999999                            ;Quota massima
Asse:minpos = -999999                           ;Quota minima
Asse:slowpos = 100                              ;Quota di rallentamento
Asse:tollp = 10                                 ;Tolleranza positiva
Asse:tolln = 50                                 ;Tolleranza negativa
Asse:tinv = 50                                  ;Tempo di inversione
Asse:slowdly = 50                               ;Tempo di rallentamento
Asse:tbrake = 30                                ;Tempo di intervento freno
Asse:overpos = 0                                ;Oltrequota recupero giochi
Asse:bklashmode = 0                             ;Tipo recupero giochi
Asse:ninert = 1                                 ;Numero fasce di inerzia
Asse:maxiner = 100                              ;Massima inerzia ricalcolata
Asse:toldly = 50                                ;Tempo ritardo segnalazione tolleranza
Asse:inertmode = 1                              ;Tipo di ricalcolo inerzia
Asse:tool = 0                                   ;Spessore lama
Asse:dobiner = 0                                ;Abilitazione inerzie sdoppiate
                                                ;(avanti e indietro)
Asse:enstol = 0                                 ;Abilitazione START con l'asse in
                                                ;tolleranza
Asse:prsmode = 0                                ;Tipo di ricerca di preset
Asse:prspos = 0                                 ;Quota di preset
Asse:prsdir = 0                                 ;Direzione della ricerca di preset
Asse:decpt = 1                                  ;Cifre decimali
Asse:unitvel = 1                                ;Unità di tempo della velocità
Asse:breaktype = 0                              ;Logica di intervento del freno
Asse:slowtype = 0                               ;Tipo di calcolo rallentamento
Asse:maxvel = 1000                              ;Velocità massima
Asse:maxslow = 8                                ;Rallentamento calcolato massimo
Asse:minslow = 80                               ;Rallentamento calcolato minimo
INIT Asse                                       ;Inizializza il device
WAIT Asse:st_init                               ;Attendi che il device sia inizializzato
CNTUNLOCK Asse                                  ;Sblocca conteggio
WAIT NOT Asse:st_cntlock                        ;Attendi che il conteggio sia sbloccato
CNTDIR Asse                                     ;Imposta il senso del conteggio
WAIT NOT Asse:st_cntrev                         ;Attendi che sia impostato il senso del
                                                ;conteggio
REGON Asse                                      ;Abilita la regolazione
WAIT NOT Asse:st_regoff                         ;Attendi l'abilitazione alla regolazione
IF (slQuotaPos EQ 0)                            ;Nel caso in cui la quota di posizionamento
                                                ;dell'asse sia zero
  slQuotaPos = 2000                             ;Imposta una quota di posizionamento
ENDIF
 
;-------------------------------------------------------------------------------------
; Operazioni di Posizionamento
; ------------------------------ variabili utilizzate -------------------------------
; slQuotaPos: Variabile impostabile che rappresenta la quota di posizionamento dell'asse
; -------------------------------- flag utilizzati ----------------------------------
; gfMovMan: movimento manuale in corso
; gfMovAuto: Movimento automatico in corso
;-------------------------------------------------------------------------------------
MAIN:
 
;-------------------------------------------------------------------------------------
; Gestione uscite
;-------------------------------------------------------------------------------------
ofToll = Asse:st_toll                           ;Imposto l'uscita di tolleranza come lo
                                                ;stato di tolleranza
 
;-------------------------------------------------------------------------------------
; Gestione movimenti automatici
;-------------------------------------------------------------------------------------
IF ifStart                                      ;Attende l'ingresso di START
  IF NOT gfMovMan                               ;Controlla che non ci siano movimenti
;manuali
    IF Asse:st_still                            ;Controlla che l'asse sia fermo
      Asse:setpos = slQuotaPos                  ;Imposta la quota di posizionamento
      START Asse                                ;Esegue lo start dell'asse
      gfMovAuto = 1                             ;Segnala movimento automatico in corso
    ENDIF
  ENDIF
ENDIF
IF ifStop                                       ;Attende l'ingresso di STOP
  IF NOT Asse:st_still                          ;Controlla che l'asse NON sia fermo
    STOP Asse                                   ;Esegue lo stop dell'asse
  ENDIF
ENDIF
 
IF gfMovAuto                                    ;Controlla segnalazione movimento
                                                ;automatico in corso
  IF Asse:st_still                              ;Controlla che l'asse sia fermo
    gfMovAuto = 0                               ;Resetta stato di movimento Automatico
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
; Gestione movimenti manuali
;-------------------------------------------------------------------------------------
IF ifAvMan                                      ;Attende l'ingresso di movimento manuale
  IF NOT (gfMovAuto OR gfMovMan)                ;Controlla che non ci siano movimenti
;autometici o manuali
    IF Asse:st_still                            ;Controlla che l'asse sia fermo
      MANFFW Asse                               ;Avanti asse in manuale
      gfMovMan = 1                              ;Segnala movimento manuale in corso
    ENDIF
  ENDIF
ENDIF
IF ifInMan                                      ;Attende l'ingresso di movimento manuale
  IF NOT (gfMovAuto OR gfMovMan)                ;Controlla che non ci siano movimenti
                                                ;autometici o manuali
    IF Asse:st_still                            ;Controlla che l'asse sia fermo
      MANFBW Asse                               ;Avanti asse in manuale
      gfMovMan = 1                              ;Segnala movimento manuale in corso
    ENDIF
  ENDIF
ENDIF
IF gfMovMan                                     ;Se l'asse si muove in manuale
  IF NOT (ifAvMan OR ifInMan)                   ;Se gli ingressi di avanti e indietro
                                                ;manuale sono OFF
    STOP Asse                                   ;Ferma l'asse
    gfMovMan = 0                                ;Togli la segnalazione di asse in
                                                ;movimento manuale
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
; Operazioni finali
;-------------------------------------------------------------------------------------
  WAIT 1
  JUMP MAIN
 
END